Buyoun Cho / Mbed 2 deprecated HydraulicControlBoard_PostLIGHT_210420

[Ver 1.0] The code was given by Seunghoon shin, used for hydraulic quadrupedal robot. Buyoun Cho will revise the code for Post-LIGHT (the robot name is not determined yet).

Dependencies:   mbed FastPWM

main.cpp@86:b8ed7abddeb2, 2020-07-13 (annotated)

Committer:
Lightvalve
Date:
Mon Jul 13 00:43:25 2020 +0000
Revision:
86:b8ed7abddeb2
Parent:
85:a3b46118b5cd
Child:
87:471334725012
200713-1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 86:b8ed7abddeb2 1 //200713-1
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 11 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 Timer t;
GiJeongKim 0:51c43836c1d7 15
Lightvalve 31:66738bfecec5 16 ///191008////
Lightvalve 31:66738bfecec5 17
jobuuu 7:e9086c72bb22 18 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 19 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 20 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 23 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 24 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 25 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 26
Lightvalve 24:ef6e1092e9e6 27
jobuuu 7:e9086c72bb22 28 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 29 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 30 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 31
jobuuu 7:e9086c72bb22 32 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 33 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 34 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 35 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 38 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 39 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 40 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 41 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 42 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 43 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 50 CANMessage msg;
Lightvalve 11:82d8768d7351 51 void onMsgReceived()
Lightvalve 11:82d8768d7351 52 {
Lightvalve 11:82d8768d7351 53 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 54 }
jobuuu 2:a1c0a37df760 55
jobuuu 7:e9086c72bb22 56 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 57 State pos;
jobuuu 7:e9086c72bb22 58 State vel;
jobuuu 7:e9086c72bb22 59 State Vout;
jobuuu 7:e9086c72bb22 60 State torq;
jobuuu 7:e9086c72bb22 61 State pres_A;
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 7:e9086c72bb22 63 State cur;
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 14:8e7590227d22 65
Lightvalve 14:8e7590227d22 66 State INIT_Vout;
Lightvalve 14:8e7590227d22 67 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_torq;
jobuuu 5:a4319f79457b 70
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 73 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 74 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
Lightvalve 61:bc8c8270f0ab 85
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 94 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 96 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 97 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 98 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 99 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 100 };
Lightvalve 12:6f2531038ea4 101
Lightvalve 12:6f2531038ea4 102 /*******************************************************************************
Lightvalve 12:6f2531038ea4 103 * CONTROL MODE
Lightvalve 12:6f2531038ea4 104 ******************************************************************************/
Lightvalve 13:747daba9cf59 105 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 106 //control mode
Lightvalve 12:6f2531038ea4 107 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 108 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 109 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 110
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 112 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 120 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 121
Lightvalve 14:8e7590227d22 122 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 124 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 125
Lightvalve 12:6f2531038ea4 126 //utility
Lightvalve 12:6f2531038ea4 127 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 128 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 129 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 130 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 132 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 133 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 136 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 138 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 65:a2d7c63419c2 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 65:a2d7c63419c2 146 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 147 */
Lightvalve 65:a2d7c63419c2 148 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 149 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 150 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 151 */
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 161 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 162 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 163 {
Lightvalve 65:a2d7c63419c2 164 //Error_Handler();
Lightvalve 65:a2d7c63419c2 165 }
Lightvalve 65:a2d7c63419c2 166 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 167 */
Lightvalve 65:a2d7c63419c2 168 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 169 {
Lightvalve 65:a2d7c63419c2 170 //Error_Handler();
Lightvalve 65:a2d7c63419c2 171 }
Lightvalve 65:a2d7c63419c2 172 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 173 */
Lightvalve 65:a2d7c63419c2 174 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 175 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 179 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 180
Lightvalve 65:a2d7c63419c2 181 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 182 {
Lightvalve 65:a2d7c63419c2 183 //Error_Handler();
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185 }
Lightvalve 65:a2d7c63419c2 186
Lightvalve 65:a2d7c63419c2 187
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 189 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 191 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 192
Lightvalve 73:f80dc3970c99 193 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 194
Lightvalve 66:a8e6799dbce3 195 const float h1[num_input][32] = {
Lightvalve 86:b8ed7abddeb2 196 {-1.7173271179199219f,1.9272761344909668f,0.10589459538459778f,-1.9551751613616943f,-3.8357114791870117f,-0.29917842149734497f,-0.48302900791168213f,-0.6505731344223022f,0.29983001947402954f,0.15260091423988342f,-0.22155041992664337f,1.0087947845458984f,-0.19318288564682007f,0.2118169665336609f,-0.21103838086128235f,-0.09650886058807373f,0.3179604113101959f,0.24935457110404968f,1.4815877676010132f,1.0487595796585083f,-0.33476194739341736f,0.10696089267730713f,-0.3326931595802307f,-0.0792258083820343f,-0.7916494011878967f,0.18374285101890564f,-0.1767144799232483f,-0.4138437807559967f,-0.15036900341510773f,-0.18794111907482147f,-2.7250051498413086f,0.5172664523124695f},
Lightvalve 86:b8ed7abddeb2 197 {-1.2524315118789673f,0.941848635673523f,0.29864487051963806f,-1.584148645401001f,-2.2177202701568604f,-0.17978821694850922f,-0.012527896091341972f,-0.144596666097641f,0.14071500301361084f,0.6399505138397217f,-0.31240519881248474f,0.5600001215934753f,0.021212786436080933f,0.13825878500938416f,0.045876264572143555f,-0.09028167277574539f,0.07870176434516907f,0.06295260787010193f,1.1944940090179443f,0.7594378590583801f,-0.03096979856491089f,-0.12077532708644867f,-0.09506890177726746f,0.27714261412620544f,-0.9661630988121033f,0.2936786115169525f,0.12686115503311157f,0.03534860163927078f,-0.3554855287075043f,0.09809011220932007f,-1.8105827569961548f,0.32793962955474854f},
Lightvalve 86:b8ed7abddeb2 198 {-0.48733365535736084f,0.6765395998954773f,-0.0042223334312438965f,-1.1163684129714966f,-1.3729448318481445f,-0.19619950652122498f,-0.05927915871143341f,-0.2911379635334015f,0.16023236513137817f,0.408161997795105f,0.2585596740245819f,0.5770053267478943f,-0.03282937407493591f,0.1537180244922638f,-0.31718650460243225f,-0.10159887373447418f,0.5034856796264648f,-0.2658354640007019f,0.9114205837249756f,0.5554563403129578f,0.22159990668296814f,-0.15311938524246216f,0.13552400469779968f,-0.24659553170204163f,-0.7723011374473572f,0.14537742733955383f,-0.15514154732227325f,0.12487674504518509f,-0.3350704610347748f,0.302763432264328f,-1.7596312761306763f,-0.12863287329673767f},
Lightvalve 86:b8ed7abddeb2 199 {-0.2709197998046875f,0.6088866591453552f,-0.20532599091529846f,-2.105774402618408f,-1.0578839778900146f,0.036226771771907806f,-0.03222697228193283f,-1.6291370391845703f,0.26261192560195923f,0.01654042862355709f,0.09624053537845612f,0.6282867789268494f,-0.11809042096138f,0.2912616729736328f,-0.12817290425300598f,0.07094799727201462f,0.020156018435955048f,-0.23756909370422363f,0.5113418102264404f,0.16509424149990082f,-0.24942269921302795f,-0.08793863654136658f,-0.14710915088653564f,-0.29148542881011963f,-0.4696958363056183f,0.14159366488456726f,0.13380053639411926f,0.02932538464665413f,0.295910120010376f,0.1323157548904419f,-1.4720128774642944f,0.07230854779481888f},
Lightvalve 86:b8ed7abddeb2 200 {0.6661653518676758f,-0.07301590591669083f,0.08410122990608215f,-1.2277125120162964f,0.694151759147644f,0.09587140381336212f,-0.04204050451517105f,-2.474729299545288f,-0.6504687666893005f,0.6039865612983704f,-0.2716653645038605f,-0.35135138034820557f,0.211430162191391f,0.17204579710960388f,-0.25075238943099976f,0.28811436891555786f,-0.3890503942966461f,-0.18436601758003235f,-0.33490189909935f,-0.7503584623336792f,0.1375632882118225f,0.23587647080421448f,-0.24541926383972168f,-0.07457953691482544f,-0.8893887400627136f,-0.34256690740585327f,0.04057341814041138f,-0.09120805561542511f,0.44388294219970703f,-0.16320037841796875f,-0.14700335264205933f,-0.3236575722694397f},
Lightvalve 86:b8ed7abddeb2 201 {2.7038960456848145f,-4.2455902099609375f,0.30513831973075867f,3.0863757133483887f,4.677725791931152f,0.2606070041656494f,-0.03161865100264549f,-0.08901429921388626f,-1.4746451377868652f,2.4349827766418457f,0.25819647312164307f,-3.1457977294921875f,-0.03144201636314392f,-0.005527359899133444f,0.21901831030845642f,-0.11974890530109406f,-1.0750433206558228f,-0.3195672333240509f,-4.672972202301025f,-2.3165717124938965f,0.13521116971969604f,-0.009676039218902588f,0.12587067484855652f,0.3309326469898224f,-2.980839729309082f,0.20814630389213562f,-0.2925715744495392f,0.6946446895599365f,0.4552701413631439f,-0.0013132691383361816f,3.4617044925689697f,-0.7443327307701111f},
Lightvalve 86:b8ed7abddeb2 202 {0.053353261202573776f,-0.3158263862133026f,0.16288265585899353f,2.1040215492248535f,1.4133939743041992f,-0.0392598994076252f,-0.240433007478714f,-0.22583630681037903f,-0.2659626007080078f,-0.04336997866630554f,-0.11595829576253891f,-2.774592876434326f,0.098605215549469f,-0.08670175075531006f,-0.18274356424808502f,-0.46412888169288635f,-0.509023904800415f,-0.08166468143463135f,1.4031105041503906f,0.0587632991373539f,-0.16223669052124023f,-0.1771286129951477f,-0.2626192569732666f,-0.24521145224571228f,0.28011003136634827f,-0.15535086393356323f,-0.1126367449760437f,-0.2817431688308716f,-0.3592621684074402f,-0.03486502170562744f,1.4289454221725464f,-0.017852041870355606f},
Lightvalve 86:b8ed7abddeb2 203 {0.6210769414901733f,-0.5490168929100037f,0.16644713282585144f,2.281311511993408f,1.210886836051941f,-0.20248198509216309f,0.03943008556962013f,-0.1206393837928772f,0.2586970925331116f,-0.4114479124546051f,-0.25573021173477173f,1.7027860879898071f,0.10806858539581299f,-0.12328503280878067f,0.054826945066452026f,0.09183579683303833f,0.05191424489021301f,-0.28619682788848877f,-0.21711719036102295f,0.02729770913720131f,-0.07430306077003479f,0.022674113512039185f,-0.12776102125644684f,-0.02844339609146118f,1.5868158340454102f,0.0177537202835083f,-0.341458797454834f,-0.21236279606819153f,-0.32845446467399597f,0.004316955804824829f,0.9823347926139832f,0.12272779643535614f},
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Lightvalve 65:a2d7c63419c2 213 };
Lightvalve 65:a2d7c63419c2 214
Lightvalve 66:a8e6799dbce3 215 const float h2[32][32] = {
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Lightvalve 65:a2d7c63419c2 248 };
Lightvalve 65:a2d7c63419c2 249
Lightvalve 66:a8e6799dbce3 250 const float h3[32][32] = {
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Lightvalve 65:a2d7c63419c2 284
Lightvalve 86:b8ed7abddeb2 285 const float hout[32] = { 0.016861308366060257f,0.02745733968913555f,0.07825727015733719f,0.8766828179359436f,-0.05232406407594681f,0.35792431235313416f,1.570347547531128f,0.10329969972372055f,0.4806658923625946f,-0.062165163457393646f,0.15290232002735138f,0.09420708566904068f,-0.11127324402332306f,0.13416433334350586f,0.10202100872993469f,0.006314356345683336f,-0.003878760151565075f,-0.18621718883514404f,0.1323828548192978f,-0.10361719876527786f,-0.09726173430681229f,0.010512445122003555f,0.0036775292828679085f,-0.028018292039632797f,0.5220573544502258f,0.21163398027420044f,-0.3082039952278137f,0.26232731342315674f,0.8687447309494019f,-0.16385973989963531f,-0.09068699926137924f,0.10824593156576157f };
Lightvalve 66:a8e6799dbce3 286
Lightvalve 86:b8ed7abddeb2 287 const float b1[32] = { 0.6189494729042053f,1.717569351196289f,-1.7145336866378784f,1.2212576866149902f,2.3427574634552f,0.7081863880157471f,-0.09428720921278f,0.3455063998699188f,0.6096851825714111f,-3.0868020057678223f,0.5562145113945007f,2.118533134460449f,-0.3425353467464447f,-0.940459668636322f,-1.087764859199524f,0.8448495864868164f,0.49272775650024414f,-0.26377663016319275f,1.244008183479309f,0.8255248665809631f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,4.908173561096191f,-2.0880801677703857f,-1.0489267110824585f,0.42044439911842346f,0.12164653092622757f,-1.0887231826782227f,2.485891342163086f,-0.4767896831035614f };
Lightvalve 65:a2d7c63419c2 288
Lightvalve 86:b8ed7abddeb2 289 const float b2[32] = { -0.5226120352745056f,-0.7642630338668823f,-1.4564176797866821f,-0.4946267604827881f,-0.8452438116073608f,0.1087772473692894f,-0.6319846510887146f,-0.30969977378845215f,-0.8028555512428284f,-1.912178635597229f,-0.30677375197410583f,0.8741645812988281f,-0.17443345487117767f,0.93160480260849f,-4.624051570892334f,1.084857702255249f,-1.798204779624939f,-1.68979811668396f,-0.05761605501174927f,-0.3331492841243744f,-0.17662832140922546f,0.076245978474617f,0.09335066378116608f,-1.2434346675872803f,0.6772512793540955f,3.3463151454925537f,0.08881940692663193f,-0.19115522503852844f,-0.9640821814537048f,-0.5077025890350342f,-1.296404242515564f,-1.4682079553604126f };
Lightvalve 65:a2d7c63419c2 290
Lightvalve 86:b8ed7abddeb2 291 const float b3[32] = { -2.1200947761535645f,-0.6417744755744934f,-0.20833487808704376f,-0.4100790023803711f,-2.229132890701294f,0.2740940451622009f,-0.2966175079345703f,-0.737217366695404f,1.8642381429672241f,0.08214375376701355f,-0.47954219579696655f,-0.2409215271472931f,2.223055839538574f,0.04726779833436012f,-1.2977863550186157f,-0.5223850607872009f,-1.4806815385818481f,-1.1570241451263428f,-0.461347371339798f,-0.14962559938430786f,0.9796155095100403f,0.42978283762931824f,-1.2275103330612183f,-1.0708273649215698f,0.8111138343811035f,-0.5128193497657776f,-0.31590235233306885f,0.1044965386390686f,-0.028853775933384895f,-2.4177253246307373f,-0.28963881731033325f,0.25216880440711975f };
Lightvalve 66:a8e6799dbce3 292
Lightvalve 86:b8ed7abddeb2 293 const float bout[1] = { -0.1287642866373062f };
Lightvalve 61:bc8c8270f0ab 294
Lightvalve 61:bc8c8270f0ab 295
GiJeongKim 0:51c43836c1d7 296 int main()
GiJeongKim 0:51c43836c1d7 297 {
Lightvalve 66:a8e6799dbce3 298
Lightvalve 65:a2d7c63419c2 299 HAL_Init();
Lightvalve 65:a2d7c63419c2 300 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 301
jobuuu 6:df07d3491e3a 302 /*********************************
jobuuu 1:e04e563be5ce 303 *** Initialization
jobuuu 6:df07d3491e3a 304 *********************************/
Lightvalve 69:3995ffeaa786 305 LED = 0;
Lightvalve 61:bc8c8270f0ab 306 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 307
GiJeongKim 0:51c43836c1d7 308 // i2c init
Lightvalve 8:5d2eebdad025 309 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 310 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 311 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 312 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 313 make_delay();
jobuuu 2:a1c0a37df760 314
GiJeongKim 0:51c43836c1d7 315 // // spi init
Lightvalve 16:903b5a4433b4 316 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 317 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 318 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 319 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 320 make_delay();
Lightvalve 21:e5f1a43ea6f9 321
Lightvalve 16:903b5a4433b4 322 //rom
Lightvalve 19:23b7c1ad8683 323 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 324 make_delay();
Lightvalve 13:747daba9cf59 325
GiJeongKim 0:51c43836c1d7 326 // ADC init
jobuuu 5:a4319f79457b 327 Init_ADC();
Lightvalve 11:82d8768d7351 328 make_delay();
jobuuu 2:a1c0a37df760 329
GiJeongKim 0:51c43836c1d7 330 // Pwm init
GiJeongKim 0:51c43836c1d7 331 Init_PWM();
GiJeongKim 0:51c43836c1d7 332 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 333 make_delay();
Lightvalve 13:747daba9cf59 334
Lightvalve 11:82d8768d7351 335 // TMR3 init
Lightvalve 11:82d8768d7351 336 Init_TMR3();
Lightvalve 11:82d8768d7351 337 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 338 make_delay();
Lightvalve 21:e5f1a43ea6f9 339
Lightvalve 50:3c630b5eba9f 340 // TMR2 init
Lightvalve 56:6f50d9d3bfee 341 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 342 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 343 // make_delay();
Lightvalve 21:e5f1a43ea6f9 344
GiJeongKim 0:51c43836c1d7 345 // CAN
jobuuu 2:a1c0a37df760 346 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 347 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 348 make_delay();
Lightvalve 34:bb2ca2fc2a8e 349
Lightvalve 23:59218d4a256d 350 //Timer priority
Lightvalve 23:59218d4a256d 351 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 352 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 353 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 354
Lightvalve 23:59218d4a256d 355 //can.reset();
Lightvalve 19:23b7c1ad8683 356 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 357
GiJeongKim 0:51c43836c1d7 358 // spi _ enc
GiJeongKim 0:51c43836c1d7 359 spi_enc_set_init();
Lightvalve 11:82d8768d7351 360 make_delay();
Lightvalve 13:747daba9cf59 361
Lightvalve 11:82d8768d7351 362 //DAC init
Lightvalve 58:2eade98630e2 363 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 364 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 365 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 366 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 367 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 368 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 369 }
Lightvalve 11:82d8768d7351 370 make_delay();
Lightvalve 13:747daba9cf59 371
Lightvalve 19:23b7c1ad8683 372 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 373 if(i%2==0)
Lightvalve 38:118df027d851 374 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 375 else
Lightvalve 38:118df027d851 376 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 377 }
Lightvalve 61:bc8c8270f0ab 378
Lightvalve 61:bc8c8270f0ab 379
jobuuu 6:df07d3491e3a 380 /************************************
jobuuu 1:e04e563be5ce 381 *** Program is operating!
jobuuu 6:df07d3491e3a 382 *************************************/
GiJeongKim 0:51c43836c1d7 383 while(1) {
Lightvalve 66:a8e6799dbce3 384 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 385 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 386 //i2c
Lightvalve 66:a8e6799dbce3 387
Lightvalve 65:a2d7c63419c2 388 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 389 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 390 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 391 // LED=0;
Lightvalve 65:a2d7c63419c2 392 // } else
Lightvalve 65:a2d7c63419c2 393 // LED = 1;
Lightvalve 65:a2d7c63419c2 394 timer_while = 0;
Lightvalve 66:a8e6799dbce3 395 //}
Lightvalve 66:a8e6799dbce3 396
Lightvalve 66:a8e6799dbce3 397 timer_while ++;
Lightvalve 66:a8e6799dbce3 398
Lightvalve 73:f80dc3970c99 399 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 400 LED = 0;
Lightvalve 73:f80dc3970c99 401 }
Lightvalve 66:a8e6799dbce3 402
Lightvalve 73:f80dc3970c99 403 else if(NN_Control_Flag == 1) {
Lightvalve 66:a8e6799dbce3 404 float output1[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 405 float output2[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 406 float output3[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 407 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 408
Lightvalve 66:a8e6799dbce3 409 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 68:328e1be06f5d 410 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 411 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 412 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 413 }
Lightvalve 66:a8e6799dbce3 414 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 415 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 416 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 417 }
Lightvalve 66:a8e6799dbce3 418 }
Lightvalve 65:a2d7c63419c2 419
Lightvalve 66:a8e6799dbce3 420 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 421 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 422 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 423 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 424 }
Lightvalve 66:a8e6799dbce3 425 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 426 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 427 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 428 }
Lightvalve 66:a8e6799dbce3 429 }
Lightvalve 65:a2d7c63419c2 430
Lightvalve 66:a8e6799dbce3 431 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 432 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 433 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 434 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 435 }
Lightvalve 66:a8e6799dbce3 436 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 437 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 438 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 439 }
Lightvalve 65:a2d7c63419c2 440 }
Lightvalve 66:a8e6799dbce3 441
Lightvalve 66:a8e6799dbce3 442 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 66:a8e6799dbce3 443 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 73:f80dc3970c99 444 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 445 }
Lightvalve 66:a8e6799dbce3 446 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 447
Lightvalve 66:a8e6799dbce3 448 }
Lightvalve 73:f80dc3970c99 449 output = 1.0f/(1.0f+exp(-output));
Lightvalve 68:328e1be06f5d 450 output = output * 20000.0f - 10000.0f;
Lightvalve 66:a8e6799dbce3 451 if(output>=0) {
Lightvalve 66:a8e6799dbce3 452 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 453 } else {
Lightvalve 66:a8e6799dbce3 454 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 455 }
Lightvalve 69:3995ffeaa786 456
Lightvalve 69:3995ffeaa786 457 if(LED==1) {
Lightvalve 69:3995ffeaa786 458 LED=0;
Lightvalve 69:3995ffeaa786 459 } else
Lightvalve 69:3995ffeaa786 460 LED = 1;
Lightvalve 69:3995ffeaa786 461
Lightvalve 65:a2d7c63419c2 462 }
Lightvalve 62:b5452adfb2cd 463
Lightvalve 69:3995ffeaa786 464
Lightvalve 66:a8e6799dbce3 465
GiJeongKim 0:51c43836c1d7 466 }
jobuuu 1:e04e563be5ce 467 }
jobuuu 1:e04e563be5ce 468
Lightvalve 33:91b17819ec30 469 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 470 {
Lightvalve 14:8e7590227d22 471
Lightvalve 13:747daba9cf59 472 int i = 0;
Lightvalve 48:889798ff9329 473 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 474 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 475 if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
Lightvalve 14:8e7590227d22 476 if(i==0) {
Lightvalve 50:3c630b5eba9f 477 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 478 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 479 } else {
Lightvalve 57:f4819de54e7a 480 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 481 }
Lightvalve 14:8e7590227d22 482 } else {
Lightvalve 50:3c630b5eba9f 483 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 484 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 485 } else {
Lightvalve 57:f4819de54e7a 486 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 487 }
Lightvalve 13:747daba9cf59 488 }
Lightvalve 13:747daba9cf59 489 break;
Lightvalve 13:747daba9cf59 490 }
Lightvalve 13:747daba9cf59 491 }
Lightvalve 14:8e7590227d22 492 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 493 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 494 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 495 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 496 }
Lightvalve 36:a46e63505ed8 497
Lightvalve 57:f4819de54e7a 498 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 499 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 500
Lightvalve 13:747daba9cf59 501 }
jobuuu 6:df07d3491e3a 502
jobuuu 6:df07d3491e3a 503
Lightvalve 30:8d561f16383b 504 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 505 {
Lightvalve 13:747daba9cf59 506 int i = 0;
Lightvalve 13:747daba9cf59 507
Lightvalve 38:118df027d851 508 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 509 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 510 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 511 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 512 }
Lightvalve 38:118df027d851 513
Lightvalve 13:747daba9cf59 514 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 515 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 516 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 517 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 518 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 519 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 520
Lightvalve 13:747daba9cf59 521 VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
Lightvalve 14:8e7590227d22 522
Lightvalve 18:b8adf1582ea3 523 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 524 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 525 if(i==0) {
Lightvalve 48:889798ff9329 526 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 527 } else {
Lightvalve 48:889798ff9329 528 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 529 }
Lightvalve 13:747daba9cf59 530 break;
Lightvalve 13:747daba9cf59 531 }
Lightvalve 13:747daba9cf59 532 }
Lightvalve 59:f308b1656d9c 533 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 534 }
Lightvalve 13:747daba9cf59 535
Lightvalve 14:8e7590227d22 536 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 537 float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
Lightvalve 34:bb2ca2fc2a8e 538 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 539 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 540 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 541 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 542 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 543 }; // duty
Lightvalve 67:c2812cf26c38 544 float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve 67:c2812cf26c38 545 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 546 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 547 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 548 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 549 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 550 }; // mV
Lightvalve 13:747daba9cf59 551
Lightvalve 30:8d561f16383b 552 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 553 {
Lightvalve 30:8d561f16383b 554 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 555 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 556 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 557 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 558 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 559 } else {
Lightvalve 13:747daba9cf59 560 int idx = 0;
Lightvalve 13:747daba9cf59 561 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 562 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 563 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 564 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 565 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 566 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 567 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 568 break;
Lightvalve 13:747daba9cf59 569 }
Lightvalve 13:747daba9cf59 570 }
Lightvalve 13:747daba9cf59 571 }
Lightvalve 14:8e7590227d22 572
Lightvalve 13:747daba9cf59 573 return PWM_duty;
Lightvalve 13:747daba9cf59 574 }
jobuuu 6:df07d3491e3a 575
Lightvalve 57:f4819de54e7a 576
Lightvalve 57:f4819de54e7a 577
Lightvalve 57:f4819de54e7a 578
Lightvalve 57:f4819de54e7a 579
jobuuu 2:a1c0a37df760 580 /*******************************************************************************
jobuuu 2:a1c0a37df760 581 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 582 *******************************************************************************/
jobuuu 2:a1c0a37df760 583
Lightvalve 51:b46bed7fec80 584 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 585 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 586 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 587 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 588 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 589 {
Lightvalve 19:23b7c1ad8683 590 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 591
Lightvalve 21:e5f1a43ea6f9 592 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 593 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 594 ********************************************************/
Lightvalve 13:747daba9cf59 595
Lightvalve 57:f4819de54e7a 596 //Encoder
Lightvalve 57:f4819de54e7a 597 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 598 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 599 }
Lightvalve 61:bc8c8270f0ab 600
Lightvalve 61:bc8c8270f0ab 601 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 602 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 603 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 604 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 605 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 606 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 607 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 608
Lightvalve 67:c2812cf26c38 609
Lightvalve 67:c2812cf26c38 610 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 611 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 612 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 613 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 614 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 615
Lightvalve 17:1865016ca2e7 616
Lightvalve 58:2eade98630e2 617 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 618 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 619 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 620 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 621 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 622 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 623 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 624 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 625 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 626
Lightvalve 58:2eade98630e2 627 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 628 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 58:2eade98630e2 629 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 630 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 58:2eade98630e2 631 }
Lightvalve 58:2eade98630e2 632 }
Lightvalve 61:bc8c8270f0ab 633
Lightvalve 58:2eade98630e2 634 // //Pressure sensor A
Lightvalve 58:2eade98630e2 635 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 636 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 637 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 638 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 639 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 640 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve 58:2eade98630e2 641 //
Lightvalve 58:2eade98630e2 642 //
Lightvalve 58:2eade98630e2 643 // //Pressure sensor B
Lightvalve 58:2eade98630e2 644 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 645 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 646 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 647 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 648
Lightvalve 17:1865016ca2e7 649
Lightvalve 21:e5f1a43ea6f9 650 //Current
Lightvalve 21:e5f1a43ea6f9 651 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 652 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 653 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 654 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 655 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 656 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 657 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 658
Lightvalve 57:f4819de54e7a 659 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 660 }
Lightvalve 11:82d8768d7351 661 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 662 }
Lightvalve 19:23b7c1ad8683 663
Lightvalve 19:23b7c1ad8683 664
Lightvalve 18:b8adf1582ea3 665 int j =0;
Lightvalve 54:647072f5307a 666 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 667 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 668 int cnt_trans = 0;
Lightvalve 48:889798ff9329 669 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 670 int can_rest =0;
Lightvalve 48:889798ff9329 671
Lightvalve 11:82d8768d7351 672 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 673 {
Lightvalve 19:23b7c1ad8683 674 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 675
Lightvalve 57:f4819de54e7a 676 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 677 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 678 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 679 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 680 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 681 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 682 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 683 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 684 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 685 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 686 }
Lightvalve 50:3c630b5eba9f 687
Lightvalve 50:3c630b5eba9f 688 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 689 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 690 cnt_trans++;
Lightvalve 46:2694daea349b 691 torq.err_sum = 0;
Lightvalve 48:889798ff9329 692 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 693 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 694 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 695 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 696 cnt_trans++;
Lightvalve 46:2694daea349b 697 torq.err_sum = 0;
Lightvalve 48:889798ff9329 698 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 699 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 700 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 701 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 702 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 703 } else {
Lightvalve 58:2eade98630e2 704 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 705 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 706 }
Lightvalve 45:35fa6884d0c6 707
Lightvalve 50:3c630b5eba9f 708
Lightvalve 57:f4819de54e7a 709 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 710 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 711
Lightvalve 57:f4819de54e7a 712 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 713 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 714 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 715 } else {
Lightvalve 57:f4819de54e7a 716 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 717 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 718 }
Lightvalve 56:6f50d9d3bfee 719
Lightvalve 56:6f50d9d3bfee 720
Lightvalve 56:6f50d9d3bfee 721
Lightvalve 57:f4819de54e7a 722 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 723
Lightvalve 57:f4819de54e7a 724 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 725 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 726 break;
Lightvalve 13:747daba9cf59 727 }
Lightvalve 14:8e7590227d22 728
Lightvalve 14:8e7590227d22 729 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 730 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 731 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 732 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 733
Lightvalve 14:8e7590227d22 734 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 735 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 736 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 737
Lightvalve 84:c355d3e52bf1 738 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 739
Lightvalve 30:8d561f16383b 740 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 741 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 742
Lightvalve 16:903b5a4433b4 743 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 744 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 745 }
Lightvalve 13:747daba9cf59 746 } else {
Lightvalve 58:2eade98630e2 747 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 748 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 749 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 750 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 751
Lightvalve 16:903b5a4433b4 752 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 753
Lightvalve 30:8d561f16383b 754 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 755
Lightvalve 13:747daba9cf59 756 }
Lightvalve 14:8e7590227d22 757 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 758 break;
Lightvalve 19:23b7c1ad8683 759 }
Lightvalve 14:8e7590227d22 760
Lightvalve 50:3c630b5eba9f 761 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 762 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 763 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 764 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 765 // }
Lightvalve 50:3c630b5eba9f 766 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 767 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 768 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 769 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 770 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 771 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 772 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 773 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 774 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 775 // }
Lightvalve 50:3c630b5eba9f 776 //
Lightvalve 50:3c630b5eba9f 777 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 778 // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 50:3c630b5eba9f 779 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 780 //
Lightvalve 50:3c630b5eba9f 781 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 782 // V_out = 0;
Lightvalve 50:3c630b5eba9f 783 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 784 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 785 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 786 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 787 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 788 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 789 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 790 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 791 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 792 //
Lightvalve 50:3c630b5eba9f 793 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 794 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 795 // // | / | / |/
Lightvalve 50:3c630b5eba9f 796 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 797 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 798 // // /| / | / |
Lightvalve 50:3c630b5eba9f 799 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 800 //
Lightvalve 50:3c630b5eba9f 801 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 802 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 803 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 804 // } else {
Lightvalve 50:3c630b5eba9f 805 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 806 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 807 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 808 // }
Lightvalve 50:3c630b5eba9f 809 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 810 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 811 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 812 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 813 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 814 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 815 // }
Lightvalve 50:3c630b5eba9f 816 // } else {
Lightvalve 50:3c630b5eba9f 817 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 818 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 819 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 820 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 821 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 822 // }
Lightvalve 50:3c630b5eba9f 823 // V_out = 0;
Lightvalve 50:3c630b5eba9f 824 //
Lightvalve 50:3c630b5eba9f 825 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 826 //
Lightvalve 50:3c630b5eba9f 827 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 828 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 829 //
Lightvalve 50:3c630b5eba9f 830 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 831 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 832 // }
Lightvalve 50:3c630b5eba9f 833 // }
Lightvalve 50:3c630b5eba9f 834 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 835 // break;
Lightvalve 50:3c630b5eba9f 836 // }
Lightvalve 14:8e7590227d22 837
Lightvalve 14:8e7590227d22 838 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 839 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 840 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 841 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 842 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 843 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 844 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 845 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 846 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 847 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 848 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 849 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 850 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 851 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 852 }
Lightvalve 29:69f3f5445d6d 853 cnt_findhome++;
Lightvalve 14:8e7590227d22 854
Lightvalve 29:69f3f5445d6d 855 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 856 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 857 } else {
Lightvalve 29:69f3f5445d6d 858 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 859 }
Lightvalve 19:23b7c1ad8683 860
Lightvalve 57:f4819de54e7a 861 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 862 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 863 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 864 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 865
Lightvalve 59:f308b1656d9c 866 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 867 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 868 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 869 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 870 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 871
Lightvalve 59:f308b1656d9c 872 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 873 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 874
Lightvalve 34:bb2ca2fc2a8e 875
Lightvalve 29:69f3f5445d6d 876 } else {
Lightvalve 29:69f3f5445d6d 877 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 878 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 879 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 880 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 881 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 882 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 883 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 884 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 885 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 886 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 887 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 888
Lightvalve 67:c2812cf26c38 889
Lightvalve 67:c2812cf26c38 890 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 891 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 892 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 893 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 894 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 895 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 896 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 897
Lightvalve 67:c2812cf26c38 898
Lightvalve 29:69f3f5445d6d 899 }
Lightvalve 29:69f3f5445d6d 900 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 901 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 902 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 67:c2812cf26c38 903 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 904 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 905
Lightvalve 29:69f3f5445d6d 906 // input for position control
Lightvalve 67:c2812cf26c38 907
Lightvalve 67:c2812cf26c38 908 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 909 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 910
Lightvalve 67:c2812cf26c38 911 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 912 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 913 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 914 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 915
Lightvalve 67:c2812cf26c38 916 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 917
Lightvalve 67:c2812cf26c38 918 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 919 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 920 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 921
Lightvalve 67:c2812cf26c38 922 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 923 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 924 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 925
Lightvalve 69:3995ffeaa786 926 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 927 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve 67:c2812cf26c38 928 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 929 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 930 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 67:c2812cf26c38 931 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 932 }
Lightvalve 67:c2812cf26c38 933 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 934 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 935
Lightvalve 67:c2812cf26c38 936 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 937
Lightvalve 67:c2812cf26c38 938
Lightvalve 67:c2812cf26c38 939
Lightvalve 67:c2812cf26c38 940 } else {
Lightvalve 67:c2812cf26c38 941 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 942 VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 67:c2812cf26c38 943
Lightvalve 67:c2812cf26c38 944 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 945 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 946 } else {
Lightvalve 67:c2812cf26c38 947 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 948 }
Lightvalve 67:c2812cf26c38 949
Lightvalve 67:c2812cf26c38 950 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 951
Lightvalve 67:c2812cf26c38 952 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 953
Lightvalve 67:c2812cf26c38 954 }
Lightvalve 67:c2812cf26c38 955
Lightvalve 67:c2812cf26c38 956
Lightvalve 67:c2812cf26c38 957
Lightvalve 67:c2812cf26c38 958
Lightvalve 59:f308b1656d9c 959 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 960 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 961 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 962 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 963 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 964
Lightvalve 29:69f3f5445d6d 965 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 966 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 967 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 968 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 969 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 970 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 971 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 972 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 973 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 974 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 975 }
Lightvalve 13:747daba9cf59 976 }
Lightvalve 19:23b7c1ad8683 977
Lightvalve 13:747daba9cf59 978 break;
Lightvalve 13:747daba9cf59 979 }
Lightvalve 14:8e7590227d22 980
Lightvalve 50:3c630b5eba9f 981 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 982 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 983 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 984 // else {
Lightvalve 50:3c630b5eba9f 985 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 986 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 987 // }
Lightvalve 50:3c630b5eba9f 988 // }
Lightvalve 50:3c630b5eba9f 989 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 990 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 991 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 992 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 993 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 994 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 995 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 996 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 997 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 998 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 999 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1000 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1001 // }
Lightvalve 50:3c630b5eba9f 1002 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1003 // }
Lightvalve 50:3c630b5eba9f 1004 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1005 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1006 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1007 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1008 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1009 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1010 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1011 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1012 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 1013 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 50:3c630b5eba9f 1014 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1015 // }
Lightvalve 50:3c630b5eba9f 1016 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1017 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1018 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1019 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1020 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1021 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1022 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 50:3c630b5eba9f 1023 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 50:3c630b5eba9f 1024 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1025 // }
Lightvalve 50:3c630b5eba9f 1026 // }
Lightvalve 50:3c630b5eba9f 1027 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1028 //
Lightvalve 50:3c630b5eba9f 1029 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1030 //
Lightvalve 50:3c630b5eba9f 1031 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1032 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1033 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1034 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1035 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1036 // }
Lightvalve 50:3c630b5eba9f 1037 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1038 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1039 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1040 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1041 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1042 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1043 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1044 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1045 // }
Lightvalve 50:3c630b5eba9f 1046 //
Lightvalve 50:3c630b5eba9f 1047 // }
Lightvalve 50:3c630b5eba9f 1048 // break;
Lightvalve 50:3c630b5eba9f 1049 // }
Lightvalve 50:3c630b5eba9f 1050 //
Lightvalve 50:3c630b5eba9f 1051 // }
Lightvalve 14:8e7590227d22 1052 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1053 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1054 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1055 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1056 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1057
Lightvalve 14:8e7590227d22 1058 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1059 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1060 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1061 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1062 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1063
Lightvalve 38:118df027d851 1064 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1065 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1066 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1067
Lightvalve 30:8d561f16383b 1068 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1069 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1070 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1071 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1072
Lightvalve 30:8d561f16383b 1073 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1074 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1075 }
Lightvalve 13:747daba9cf59 1076 } else {
Lightvalve 57:f4819de54e7a 1077 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1078 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1079 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1080 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1081 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1082 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1083
Lightvalve 16:903b5a4433b4 1084 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1085
Lightvalve 30:8d561f16383b 1086 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1087 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1088 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1089 }
Lightvalve 14:8e7590227d22 1090 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1091 break;
Lightvalve 13:747daba9cf59 1092 }
Lightvalve 14:8e7590227d22 1093
Lightvalve 50:3c630b5eba9f 1094 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1095 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1096 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1097 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1098 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1099 // }
Lightvalve 50:3c630b5eba9f 1100 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1101 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1102 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1103 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1104 // }
Lightvalve 50:3c630b5eba9f 1105 // } else {
Lightvalve 50:3c630b5eba9f 1106 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1107 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1108 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1109 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1110 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1111 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1112 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1113 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1114 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1115 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1116 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1117 //
Lightvalve 50:3c630b5eba9f 1118 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1119 //
Lightvalve 50:3c630b5eba9f 1120 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1121 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1122 // }
Lightvalve 50:3c630b5eba9f 1123 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1124 // break;
Lightvalve 50:3c630b5eba9f 1125 // }
Lightvalve 19:23b7c1ad8683 1126
Lightvalve 50:3c630b5eba9f 1127 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1128 // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve 50:3c630b5eba9f 1129 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1130 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1131 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1132 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1133 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1134 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1135 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1136 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1137 // }
Lightvalve 50:3c630b5eba9f 1138 // break;
Lightvalve 50:3c630b5eba9f 1139 // }
Lightvalve 14:8e7590227d22 1140
Lightvalve 14:8e7590227d22 1141 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1142 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1143 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1144
Lightvalve 14:8e7590227d22 1145 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1146 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1147 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1148 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1149 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1150 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1151 data_num = 0;
Lightvalve 14:8e7590227d22 1152 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1153 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1154 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1155 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1156 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1157 } else {
Lightvalve 13:747daba9cf59 1158 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1159 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1160 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1161 }
Lightvalve 14:8e7590227d22 1162
Lightvalve 17:1865016ca2e7 1163 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1164 int i;
Lightvalve 13:747daba9cf59 1165 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1166 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1167 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1168 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1169 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1170 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1171 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1172 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1173 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1174 }
Lightvalve 13:747daba9cf59 1175 }
Lightvalve 59:f308b1656d9c 1176 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1177 ID_index = 0;
Lightvalve 57:f4819de54e7a 1178 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1179 }
Lightvalve 14:8e7590227d22 1180
Lightvalve 14:8e7590227d22 1181
Lightvalve 13:747daba9cf59 1182 break;
Lightvalve 13:747daba9cf59 1183 }
Lightvalve 14:8e7590227d22 1184
Lightvalve 14:8e7590227d22 1185 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1186 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1187 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1188 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1189 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1190 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1191 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1192 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1193 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1194 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1195 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1196 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1197 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1198 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1199 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1200 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1201 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1202 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1203 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1204 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1205 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1206 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1207 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1208 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1209 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1210 data_num = 0;
Lightvalve 14:8e7590227d22 1211
Lightvalve 30:8d561f16383b 1212 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1213 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1214 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1215
Lightvalve 30:8d561f16383b 1216 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1217 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1218 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1219
Lightvalve 30:8d561f16383b 1220 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1221 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1222 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1223 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1224
Lightvalve 60:64181f1d3e60 1225 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1226 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1227 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1228 DZ_case = -1;
Lightvalve 14:8e7590227d22 1229 } else {
Lightvalve 13:747daba9cf59 1230 DZ_case = 0;
Lightvalve 13:747daba9cf59 1231 }
Lightvalve 61:bc8c8270f0ab 1232
Lightvalve 60:64181f1d3e60 1233 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1234
Lightvalve 13:747daba9cf59 1235 first_check = 1;
Lightvalve 13:747daba9cf59 1236 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1237 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1238 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1239 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1240 DZ_index = 1;
Lightvalve 14:8e7590227d22 1241
Lightvalve 13:747daba9cf59 1242 }
Lightvalve 19:23b7c1ad8683 1243 } else {
Lightvalve 14:8e7590227d22 1244 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1245 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1246 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1247 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1248 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1249 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1250 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1251 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1252 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1253 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1254 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1255 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1256 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1257 }
Lightvalve 14:8e7590227d22 1258 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1259
Lightvalve 30:8d561f16383b 1260 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1261 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1262 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1263
Lightvalve 14:8e7590227d22 1264 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1265 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1266 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1267 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1268 } else {
Lightvalve 13:747daba9cf59 1269 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1270 }
Lightvalve 14:8e7590227d22 1271
Lightvalve 13:747daba9cf59 1272 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1273 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1274 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1275 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1276 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1277 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1278 DZ_index = 1;
Lightvalve 13:747daba9cf59 1279 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1280 }
Lightvalve 13:747daba9cf59 1281 }
Lightvalve 14:8e7590227d22 1282 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1283 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1284 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1285 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1286 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1287 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1288 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1289 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1290 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1291 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1292 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1293 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1294 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1295 }
Lightvalve 14:8e7590227d22 1296 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1297
Lightvalve 30:8d561f16383b 1298 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1299 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1300 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1301 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1302 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1303
Lightvalve 14:8e7590227d22 1304 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1305 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1306 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1307 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1308 } else {
Lightvalve 60:64181f1d3e60 1309 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1310 }
Lightvalve 14:8e7590227d22 1311
Lightvalve 13:747daba9cf59 1312 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1313 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1314 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1315 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1316 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1317 first_check = 0;
Lightvalve 33:91b17819ec30 1318 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1319 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1320
Lightvalve 16:903b5a4433b4 1321 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1322
Lightvalve 60:64181f1d3e60 1323 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1324 DZ_index = 1;
Lightvalve 13:747daba9cf59 1325 }
Lightvalve 13:747daba9cf59 1326 }
Lightvalve 14:8e7590227d22 1327 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1328 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1329 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1330 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1331 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1332 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1333 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1334 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1335 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1336 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1337 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1338 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1339 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1340 }
Lightvalve 14:8e7590227d22 1341 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1342
Lightvalve 30:8d561f16383b 1343 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1344 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1345 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1346
Lightvalve 14:8e7590227d22 1347 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1348 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1349 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1350 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1351 } else {
Lightvalve 13:747daba9cf59 1352 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1353 }
Lightvalve 13:747daba9cf59 1354 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1355 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1356 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1357 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1358 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1359 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1360 DZ_index = 1;
Lightvalve 13:747daba9cf59 1361 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1362 }
Lightvalve 13:747daba9cf59 1363 }
Lightvalve 14:8e7590227d22 1364 } else {
Lightvalve 30:8d561f16383b 1365 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1366 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1367 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1368 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1369 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1370 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1371 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1372 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1373 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1374 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1375 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1376 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1377 }
Lightvalve 14:8e7590227d22 1378 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1379
Lightvalve 30:8d561f16383b 1380 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1381 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1382 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1383 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1384 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1385
Lightvalve 60:64181f1d3e60 1386 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1387 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1388 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1389 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1390 } else {
Lightvalve 13:747daba9cf59 1391 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1392 }
Lightvalve 14:8e7590227d22 1393
Lightvalve 13:747daba9cf59 1394 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1395 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1396 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1397 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1398 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1399 first_check = 0;
Lightvalve 33:91b17819ec30 1400 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1401 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1402
Lightvalve 59:f308b1656d9c 1403 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1404
Lightvalve 57:f4819de54e7a 1405 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1406 DZ_index = 1;
Lightvalve 13:747daba9cf59 1407 }
Lightvalve 13:747daba9cf59 1408 }
Lightvalve 13:747daba9cf59 1409 }
Lightvalve 14:8e7590227d22 1410 }
Lightvalve 13:747daba9cf59 1411 break;
Lightvalve 13:747daba9cf59 1412 }
Lightvalve 14:8e7590227d22 1413
Lightvalve 14:8e7590227d22 1414 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1415 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1416 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1417 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1418 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1419 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1420 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1421 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1422 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1423 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1424 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1425 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1426 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1427 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1428 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1429 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1430 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1431 first_check = 1;
Lightvalve 13:747daba9cf59 1432 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1433 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1434 ID_index = 0;
Lightvalve 13:747daba9cf59 1435 max_check = 0;
Lightvalve 13:747daba9cf59 1436 min_check = 0;
Lightvalve 13:747daba9cf59 1437 }
Lightvalve 14:8e7590227d22 1438 } else {
Lightvalve 30:8d561f16383b 1439 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1440 //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1441 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1442 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1443 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1444 data_num = 0;
Lightvalve 57:f4819de54e7a 1445 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1446
Lightvalve 14:8e7590227d22 1447 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1448 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1449 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1450 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1451 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1452 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1453 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1454 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1455 one_period_end = 1;
Lightvalve 13:747daba9cf59 1456 }
Lightvalve 30:8d561f16383b 1457 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1458 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1459 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1460 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1461 }
Lightvalve 14:8e7590227d22 1462
Lightvalve 14:8e7590227d22 1463 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1464 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1465 max_check = 1;
Lightvalve 14:8e7590227d22 1466 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1467 min_check = 1;
Lightvalve 13:747daba9cf59 1468 }
Lightvalve 13:747daba9cf59 1469 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1470
Lightvalve 13:747daba9cf59 1471 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1472 one_period_end = 0;
Lightvalve 13:747daba9cf59 1473 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1474 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1475 }
Lightvalve 14:8e7590227d22 1476
Lightvalve 14:8e7590227d22 1477 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1478
Lightvalve 13:747daba9cf59 1479 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1480 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1481 ID_index = 0;
Lightvalve 13:747daba9cf59 1482 first_check = 0;
Lightvalve 13:747daba9cf59 1483 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1484 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1485 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1486 }
Lightvalve 13:747daba9cf59 1487 }
Lightvalve 13:747daba9cf59 1488 break;
Lightvalve 13:747daba9cf59 1489 }
Lightvalve 58:2eade98630e2 1490
Lightvalve 57:f4819de54e7a 1491 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1492 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1493 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1494 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1495 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1496 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1497 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1498 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1499 }
Lightvalve 57:f4819de54e7a 1500 break;
Lightvalve 57:f4819de54e7a 1501 }
Lightvalve 58:2eade98630e2 1502
Lightvalve 58:2eade98630e2 1503
Lightvalve 57:f4819de54e7a 1504
Lightvalve 57:f4819de54e7a 1505 default:
Lightvalve 57:f4819de54e7a 1506 break;
Lightvalve 57:f4819de54e7a 1507 }
Lightvalve 57:f4819de54e7a 1508
Lightvalve 57:f4819de54e7a 1509 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1510
Lightvalve 57:f4819de54e7a 1511 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1512 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1513 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1514 break;
Lightvalve 57:f4819de54e7a 1515 }
Lightvalve 57:f4819de54e7a 1516
Lightvalve 57:f4819de54e7a 1517 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1518 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1519 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1520 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1521 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1522 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1523 } else {
Lightvalve 67:c2812cf26c38 1524 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1525 }
Lightvalve 58:2eade98630e2 1526
Lightvalve 57:f4819de54e7a 1527 break;
Lightvalve 57:f4819de54e7a 1528 }
Lightvalve 57:f4819de54e7a 1529
Lightvalve 57:f4819de54e7a 1530 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1531 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1532 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1533 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1534 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1535
Lightvalve 67:c2812cf26c38 1536 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1537 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1538 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1539 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1540
Lightvalve 67:c2812cf26c38 1541 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1542
Lightvalve 57:f4819de54e7a 1543 // torque feedback
Lightvalve 67:c2812cf26c38 1544 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1545 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1546
Lightvalve 57:f4819de54e7a 1547 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1548
Lightvalve 57:f4819de54e7a 1549 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1550 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1551 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1552
Lightvalve 57:f4819de54e7a 1553 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1554 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1555 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1556
Lightvalve 69:3995ffeaa786 1557 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1558 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1559 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1560 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1561 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1562 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1563 }
Lightvalve 57:f4819de54e7a 1564 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1565 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1566
Lightvalve 57:f4819de54e7a 1567 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1568 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1569 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1570 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 57:f4819de54e7a 1571 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1572 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1573 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1574 I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve 57:f4819de54e7a 1575 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1576 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1577 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1578 }
Lightvalve 57:f4819de54e7a 1579 if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1580 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1581 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1582 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1583 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1584
Lightvalve 57:f4819de54e7a 1585 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1586
Lightvalve 67:c2812cf26c38 1587 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1588 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1589 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1590 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1591 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1592 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1593 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1594 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1595 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1596 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1597 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1598 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1599 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1600 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1601 }
Lightvalve 67:c2812cf26c38 1602 }
Lightvalve 57:f4819de54e7a 1603
Lightvalve 57:f4819de54e7a 1604 } else {
Lightvalve 57:f4819de54e7a 1605 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1606 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1607 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1608
Lightvalve 57:f4819de54e7a 1609 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 57:f4819de54e7a 1610 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 1611
Lightvalve 72:3436ce769b1e 1612 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 72:3436ce769b1e 1613
Lightvalve 72:3436ce769b1e 1614 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1615
Lightvalve 72:3436ce769b1e 1616
Lightvalve 72:3436ce769b1e 1617 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1618 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1619 } else {
Lightvalve 72:3436ce769b1e 1620 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1621 }
Lightvalve 57:f4819de54e7a 1622
Lightvalve 57:f4819de54e7a 1623 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1624 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1625 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1626 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1627 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1628 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1629 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1630 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1631 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1632 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1633 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1634 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1635 }
Lightvalve 57:f4819de54e7a 1636 }
Lightvalve 61:bc8c8270f0ab 1637
Lightvalve 57:f4819de54e7a 1638 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1639
Lightvalve 67:c2812cf26c38 1640 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1641 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1642
Lightvalve 57:f4819de54e7a 1643 }
Lightvalve 72:3436ce769b1e 1644
Lightvalve 72:3436ce769b1e 1645 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1646
Lightvalve 57:f4819de54e7a 1647 break;
Lightvalve 57:f4819de54e7a 1648 }
Lightvalve 58:2eade98630e2 1649
Lightvalve 57:f4819de54e7a 1650 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1651 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1652 break;
Lightvalve 57:f4819de54e7a 1653 }
Lightvalve 14:8e7590227d22 1654
Lightvalve 12:6f2531038ea4 1655 default:
Lightvalve 12:6f2531038ea4 1656 break;
Lightvalve 12:6f2531038ea4 1657 }
Lightvalve 14:8e7590227d22 1658
Lightvalve 57:f4819de54e7a 1659
Lightvalve 57:f4819de54e7a 1660 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1661
Lightvalve 57:f4819de54e7a 1662 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1663 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1664 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1665 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1666 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1667 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1668
Lightvalve 57:f4819de54e7a 1669 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1670 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1671
Lightvalve 57:f4819de54e7a 1672
Lightvalve 57:f4819de54e7a 1673 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1674 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1675 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1676 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1677 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1678 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1679
Lightvalve 57:f4819de54e7a 1680 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1681 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1682 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1683 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1684 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1685 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1686 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1687 }
Lightvalve 57:f4819de54e7a 1688
Lightvalve 57:f4819de54e7a 1689 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1690
Lightvalve 67:c2812cf26c38 1691 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1692 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1693 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1694 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1695 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve 67:c2812cf26c38 1696 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1697 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1698
Lightvalve 57:f4819de54e7a 1699 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1700 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1701 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1702 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1703 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1704 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1705 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1706 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1707 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1708 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1709 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1710 }
Lightvalve 57:f4819de54e7a 1711 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1712 } else {
Lightvalve 57:f4819de54e7a 1713 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1714 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1715 }
Lightvalve 57:f4819de54e7a 1716
Lightvalve 57:f4819de54e7a 1717 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1718 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1719 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1720 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1721 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1722 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1723 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1724
Lightvalve 57:f4819de54e7a 1725 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1726
Lightvalve 57:f4819de54e7a 1727 } else {
Lightvalve 57:f4819de54e7a 1728 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1729 }
Lightvalve 57:f4819de54e7a 1730
Lightvalve 57:f4819de54e7a 1731 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1732 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1733 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1734
Lightvalve 57:f4819de54e7a 1735 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1736 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1737 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1738 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1739 }
Lightvalve 67:c2812cf26c38 1740
Lightvalve 67:c2812cf26c38 1741 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1742 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1743 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1744
jobuuu 7:e9086c72bb22 1745 /*******************************************************
jobuuu 7:e9086c72bb22 1746 *** PWM
jobuuu 7:e9086c72bb22 1747 ********************************************************/
Lightvalve 67:c2812cf26c38 1748 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1749 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1750 }
Lightvalve 67:c2812cf26c38 1751
Lightvalve 49:e7bcfc244d40 1752 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1753 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1754 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1755 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1756 }
Lightvalve 49:e7bcfc244d40 1757 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1758
Lightvalve 19:23b7c1ad8683 1759 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1760 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1761 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1762
Lightvalve 30:8d561f16383b 1763 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1764 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1765 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1766 } else {
jobuuu 2:a1c0a37df760 1767 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1768 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1769 }
Lightvalve 13:747daba9cf59 1770
jobuuu 1:e04e563be5ce 1771 //pwm
Lightvalve 30:8d561f16383b 1772 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1773 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1774
Lightvalve 61:bc8c8270f0ab 1775
Lightvalve 57:f4819de54e7a 1776 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1777
Lightvalve 54:647072f5307a 1778 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1779 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1780 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1781 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1782 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1783 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1784 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1785 }
Lightvalve 57:f4819de54e7a 1786 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1787 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1788 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve 54:647072f5307a 1789 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1790 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1791 }
Lightvalve 52:8ea76864368a 1792 }
Lightvalve 52:8ea76864368a 1793 }
Lightvalve 56:6f50d9d3bfee 1794 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1795 //valve position
Lightvalve 54:647072f5307a 1796 double t_value = 0;
Lightvalve 67:c2812cf26c38 1797 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 67:c2812cf26c38 1798 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1799 } else {
Lightvalve 67:c2812cf26c38 1800 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1801 }
Lightvalve 67:c2812cf26c38 1802 // if(OPERATING_MODE==5) {
Lightvalve 67:c2812cf26c38 1803 // t_value = (double) value;
Lightvalve 67:c2812cf26c38 1804 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 67:c2812cf26c38 1805 // t_value = cur.sen;
Lightvalve 57:f4819de54e7a 1806 // } else {
Lightvalve 67:c2812cf26c38 1807 // t_value = V_out;
Lightvalve 67:c2812cf26c38 1808 // }
Lightvalve 67:c2812cf26c38 1809 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1810 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1811 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1812 }
Lightvalve 58:2eade98630e2 1813
Lightvalve 58:2eade98630e2 1814
Lightvalve 56:6f50d9d3bfee 1815 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1816 //pressure A and B
Lightvalve 57:f4819de54e7a 1817 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 55:b25725257569 1818 }
Lightvalve 58:2eade98630e2 1819
Lightvalve 57:f4819de54e7a 1820 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1821 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1822 ;
Lightvalve 57:f4819de54e7a 1823 }
Lightvalve 58:2eade98630e2 1824
Lightvalve 56:6f50d9d3bfee 1825 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1826 //PWM
Lightvalve 73:f80dc3970c99 1827 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1828 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1829 }
Lightvalve 57:f4819de54e7a 1830 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1831 // ;
Lightvalve 57:f4819de54e7a 1832 // }
Lightvalve 56:6f50d9d3bfee 1833 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1834 //valve position
Lightvalve 73:f80dc3970c99 1835 CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
Lightvalve 54:647072f5307a 1836 }
Lightvalve 20:806196fda269 1837
Lightvalve 54:647072f5307a 1838 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1839 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1840 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1841 // }
Lightvalve 54:647072f5307a 1842 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1843 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1844 //}
Lightvalve 52:8ea76864368a 1845
Lightvalve 54:647072f5307a 1846 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1847 }
Lightvalve 54:647072f5307a 1848 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1849
Lightvalve 20:806196fda269 1850 }
Lightvalve 52:8ea76864368a 1851 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1852
Lightvalve 58:2eade98630e2 1853 }